BR112016026372B1 - Aparelho de detecção de alvo e método de detecção de alvo - Google Patents

Aparelho de detecção de alvo e método de detecção de alvo Download PDF

Info

Publication number
BR112016026372B1
BR112016026372B1 BR112016026372-3A BR112016026372A BR112016026372B1 BR 112016026372 B1 BR112016026372 B1 BR 112016026372B1 BR 112016026372 A BR112016026372 A BR 112016026372A BR 112016026372 B1 BR112016026372 B1 BR 112016026372B1
Authority
BR
Brazil
Prior art keywords
vehicle
target
error
detection area
auto
Prior art date
Application number
BR112016026372-3A
Other languages
English (en)
Portuguese (pt)
Other versions
BR112016026372A2 (cg-RX-API-DMAC7.html
Inventor
Daiki Yamanoi
Hidekazu Nishiuchi
Toshiyuki Andou
Hiroshi Satoh
Haruo Matsuo
Original Assignee
Nissan Motor Co. Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co. Ltd filed Critical Nissan Motor Co. Ltd
Publication of BR112016026372A2 publication Critical patent/BR112016026372A2/pt
Publication of BR112016026372B1 publication Critical patent/BR112016026372B1/pt

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
  • Instructional Devices (AREA)
BR112016026372-3A 2014-05-20 2014-05-20 Aparelho de detecção de alvo e método de detecção de alvo BR112016026372B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063351 WO2015177865A1 (ja) 2014-05-20 2014-05-20 物標検出装置及び物標検出方法

Publications (2)

Publication Number Publication Date
BR112016026372A2 BR112016026372A2 (cg-RX-API-DMAC7.html) 2017-08-15
BR112016026372B1 true BR112016026372B1 (pt) 2022-03-03

Family

ID=54553563

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112016026372-3A BR112016026372B1 (pt) 2014-05-20 2014-05-20 Aparelho de detecção de alvo e método de detecção de alvo

Country Status (8)

Country Link
US (1) US9767372B2 (cg-RX-API-DMAC7.html)
EP (1) EP3147629B1 (cg-RX-API-DMAC7.html)
JP (1) JP6222353B2 (cg-RX-API-DMAC7.html)
CN (1) CN106461403B (cg-RX-API-DMAC7.html)
BR (1) BR112016026372B1 (cg-RX-API-DMAC7.html)
MX (1) MX355397B (cg-RX-API-DMAC7.html)
RU (1) RU2633641C1 (cg-RX-API-DMAC7.html)
WO (1) WO2015177865A1 (cg-RX-API-DMAC7.html)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6361366B2 (ja) * 2014-08-18 2018-07-25 株式会社デンソー 物体認識装置
EP3104189B1 (en) * 2015-06-11 2020-09-30 Veoneer Sweden AB Misalignment estimation for a vehicle radar system
JP6756101B2 (ja) * 2015-12-04 2020-09-16 トヨタ自動車株式会社 物体認識装置
JP6380422B2 (ja) * 2016-02-05 2018-08-29 トヨタ自動車株式会社 自動運転システム
EP3492870B1 (en) * 2016-07-26 2020-07-15 Nissan Motor Co., Ltd. Self-position estimation method and self-position estimation device
US11519727B2 (en) * 2017-05-19 2022-12-06 Pioneer Corporation Measurement device, measurement method and program
DE102017220139A1 (de) * 2017-11-13 2019-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bereitstellen einer Position wenigstens eines Objekts
WO2019185165A1 (en) * 2018-03-30 2019-10-03 Toyota Motor Europe System and method for adjusting external position information of a vehicle
US10839522B2 (en) * 2018-05-11 2020-11-17 Toyota Research Institute, Inc. Adaptive data collecting and processing system and methods
EP3904995A4 (en) * 2018-12-28 2022-02-23 Panasonic Intellectual Property Management Co., Ltd. LOCATION DEVICE
CN112149659B (zh) * 2019-06-27 2021-11-09 浙江商汤科技开发有限公司 定位方法及装置、电子设备和存储介质
JP7227112B2 (ja) * 2019-09-27 2023-02-21 日立Astemo株式会社 物体検出装置、走行制御システム、および走行制御方法
MX2022005598A (es) 2019-11-12 2023-04-18 Nissan Motor Metodo de reconocimiento de semaforo y dispositivo de reconocimiento de semaforo.
EP3825731B1 (de) * 2019-11-21 2022-01-05 Sick Ag Optoelektronischer sicherheitssensor und verfahren zur sicheren bestimmung der eigenen position
EP3929690B1 (en) 2020-06-22 2025-12-03 Carnegie Robotics, LLC A method and a system for analyzing a scene, room or venue by determining angles from imaging elements to visible navigation elements
EP3929613A1 (en) * 2020-06-22 2021-12-29 Carnegie Robotics, LLC A method for navigating a movable device along an inclined surface
EP3988899B1 (en) * 2020-10-23 2024-05-22 Atlantic Inertial Systems Limited Terrain referenced navigation system
JP2023111192A (ja) * 2022-01-31 2023-08-10 本田技研工業株式会社 画像処理装置、移動体制御装置、画像処理方法、およびプログラム
CN115993089B (zh) * 2022-11-10 2023-08-15 山东大学 基于pl-icp的在线四舵轮agv内外参标定方法
KR102731628B1 (ko) * 2024-03-04 2024-11-18 국방과학연구소 관성항법 장치의 자세 오차 보정 방법 및 시스템

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2526876B2 (ja) * 1986-11-17 1996-08-21 日本電装株式会社 車両走行位置表示装置
RU2109344C1 (ru) * 1993-08-06 1998-04-20 Николай Николаевич Токарев Способ обнаружения движущихся целей и устройство для его осуществления
JP3449240B2 (ja) * 1998-09-24 2003-09-22 株式会社デンソー 車両用現在位置検出装置、車両用現在位置表示装置、ナビゲーション装置および記録媒体
WO2005038402A1 (ja) * 2003-10-21 2005-04-28 Waro Iwane ナビゲーション装置
JP4763250B2 (ja) * 2004-04-09 2011-08-31 株式会社デンソー 物体検出装置
JP2008501984A (ja) * 2004-06-07 2008-01-24 シャープ株式会社 情報表示制御装置、ナビゲーション装置、情報表示制御装置の制御方法、情報表示制御装置の制御プログラム、およびコンピュータ読取可能な記録媒体
WO2006121088A1 (ja) * 2005-05-10 2006-11-16 Olympus Corporation 画像処理装置、画像処理方法および画像処理プログラム
JP4631750B2 (ja) 2006-03-06 2011-02-16 トヨタ自動車株式会社 画像処理システム
JP5162103B2 (ja) * 2006-05-15 2013-03-13 トヨタ自動車株式会社 支援制御装置
JP4724043B2 (ja) * 2006-05-17 2011-07-13 トヨタ自動車株式会社 対象物認識装置
EP1906339B1 (en) * 2006-09-01 2016-01-13 Harman Becker Automotive Systems GmbH Method for recognizing an object in an image and image recognition device
JP4573899B2 (ja) * 2006-12-21 2010-11-04 パイオニア株式会社 ナビゲーション装置、マップマッチング方法、及び、マップマッチングプログラム
JP2008287572A (ja) 2007-05-18 2008-11-27 Sumitomo Electric Ind Ltd 車両運転支援システム、運転支援装置、車両及び車両運転支援方法
JP2009259215A (ja) * 2008-03-18 2009-11-05 Zenrin Co Ltd 路面標示地図生成方法
JP4453775B2 (ja) * 2008-06-27 2010-04-21 トヨタ自動車株式会社 物体検出装置
JP5372680B2 (ja) * 2009-09-24 2013-12-18 日立オートモティブシステムズ株式会社 障害物検知装置
EP2719999B1 (en) * 2011-06-13 2018-07-11 Panasonic Intellectual Property Corporation of America Geomagnetic position detection apparatus and geomagnetic pattern acquisition method
US20150025838A1 (en) * 2011-11-15 2015-01-22 Panasonic Corporation Position estimation device, position estimation method, and integrated circuit
JP5804185B2 (ja) * 2012-03-06 2015-11-04 日産自動車株式会社 移動物体位置姿勢推定装置及び移動物体位置姿勢推定方法

Also Published As

Publication number Publication date
JPWO2015177865A1 (ja) 2017-04-20
BR112016026372A2 (cg-RX-API-DMAC7.html) 2017-08-15
US9767372B2 (en) 2017-09-19
EP3147629A4 (en) 2017-04-05
CN106461403A (zh) 2017-02-22
WO2015177865A1 (ja) 2015-11-26
MX2016014733A (es) 2017-03-06
EP3147629A1 (en) 2017-03-29
RU2633641C1 (ru) 2017-10-16
JP6222353B2 (ja) 2017-11-08
EP3147629B1 (en) 2019-07-10
CN106461403B (zh) 2019-02-15
US20170177958A1 (en) 2017-06-22
MX355397B (es) 2018-04-18

Similar Documents

Publication Publication Date Title
JP6222353B2 (ja) 物標検出装置及び物標検出方法
US20230152461A1 (en) Determining Yaw Error from Map Data, Lasers, and Cameras
KR102425272B1 (ko) 디지털 지도에 대한 위치를 판별하기 위한 방법 및 시스템
US10788830B2 (en) Systems and methods for determining a vehicle position
JP6656886B2 (ja) 情報処理装置、制御方法、プログラム及び記憶媒体
US8682504B2 (en) System and method for developing dynamic positional database for air vehicles and terrain features
CN104136298A (zh) 测定车辆的速度和/或位置的方法和装置
US11436843B2 (en) Lane mapping and localization using periodically-updated anchor frames
US11908206B2 (en) Compensation for vertical road curvature in road geometry estimation
JP2016157197A (ja) 自己位置推定装置、自己位置推定方法およびプログラム
Ruotsalainen et al. A two-dimensional pedestrian navigation solution aided with a visual gyroscope and a visual odometer
US20190331496A1 (en) Locating a vehicle
US20170206425A1 (en) Road surface undulation estimation device and road surface undulation estimation method
US20190145781A1 (en) Object recognition device, object recognition method and program
TW202229069A (zh) 用於路線圖生成的穩健的車道邊界關聯
KR102651108B1 (ko) 위치 추정 장치 및 방법
Chen et al. A RGB and D vision aided multi-sensor system for indoor mobile robot and pedestrian seamless navigation
US20200208977A1 (en) Measurement device, measurement method and program
JP2024029251A (ja) 変化点検出装置、制御方法、プログラム及び記憶媒体

Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B350 Update of information on the portal [chapter 15.35 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/05/2014, OBSERVADAS AS CONDICOES LEGAIS.

B21F Lapse acc. art. 78, item iv - on non-payment of the annual fees in time

Free format text: REFERENTE A 12A ANUIDADE.

B24J Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12)

Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2881 DE 24-03-2026 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013.